def __init__(self, settingsPath, objectsPath, cascadePath):
"""
:param settingsPath: The full path to Settings.txt
:param objectsPath: The path to directory that holds Objects, for ObjectManager
:param cascadePath: The path to the directory that holds the eye_cascade.xml, face_cascade.xml, and smile_cascade.xml
"""
# Initialize Global Variables
Global.init()
# Load settings before any objects are created
self.__settingsPath = settingsPath
self.__settings = self.__loadSettings()
# Set up environment objects
self.__vStream = Video.VideoStream() # Gets frames constantly
self.__robot = Robot.Robot()
self.__vision = Vision(
self.__vStream, cascadePath
) # Performs computer vision tasks, using images from vStream
self.__objectMngr = ObjectManager.ObjectManager(objectsPath)
self.__transform = None
# If the settings have any information, try to instantiate objects. Otherwise, GUI will do this as user requests
cameraID = self.__settings['cameraID']
if cameraID is not None:
self.__vStream.setNewCamera(cameraID)
robotID = self.__settings['robotID']
if robotID is not None:
self.__robot.setUArm(robotID)
ptPairs = self.__settings["coordCalibrations"]["ptPairs"]
if ptPairs is not None:
self.__transform = Transform(ptPairs)
def __init__(self, settingsPath, objectsPath, cascadePath):
"""
:param settingsPath: The full path to Settings.txt
:param objectsPath: The path to directory that holds Objects, for ObjectManager
:param cascadePath: The path to the directory that holds the eye_cascade.xml, face_cascade.xml, and smile_cascade.xml
"""
# Initialize Global Variables
Global.init()
# Load settings before any objects are created
self.__settingsPath = settingsPath
self.__settings = self.__loadSettings()
# Set up environment objects
self.__vStream = Video.VideoStream() # Gets frames constantly
self.__robot = Robot.Robot()
self.__vision = Vision(self.__vStream, cascadePath) # Performs computer vision tasks, using images from vStream
self.__objectMngr = ObjectManager.ObjectManager(objectsPath)
self.__transform = None
# If the settings have any information, try to instantiate objects. Otherwise, GUI will do this as user requests
cameraID = self.__settings['cameraID']
if cameraID is not None:
self.__vStream.setNewCamera(cameraID)
robotID = self.__settings['robotID']
if robotID is not None:
self.__robot.setUArm(robotID)
ptPairs = self.__settings["coordCalibrations"]["ptPairs"]
if ptPairs is not None:
self.__transform = Transform(ptPairs)
def __init__(self, settingsPath=Paths.settings_txt, resourcePath=Paths.resourcesLoc):
# Initialize Global Variables
Global.init()
# Load settings before any objects are created
self.__settingsPath = settingsPath
self.__settings = self.__loadSettings()
# Set up environment objects
self.__vStream = Video.VideoStream() # Gets frames constantly
self.__robot = Robot.Robot()
self.__vision = Vision(self.__vStream) # Performs computer vision tasks, using images from vStream
self.__objectMngr = ObjectManager.ObjectManager()
# If the settings have any information, try to instantiate objects. Otherwise, GUI will do this as user requests
cameraID = self.__settings['cameraID']
if cameraID is not None:
self.__vStream.setNewCamera(cameraID)
robotID = self.__settings['robotID']
if robotID is not None:
self.__robot.setUArm(robotID)
self.__objectMngr.loadAllObjects()
return super(Application, self).notify(receiver, event)
if __name__ == '__main__':
# Install a global exception hook to catch pyQt errors that fall through (helps with debugging a ton) #TODO: Remove for builds
sys.__excepthook = sys.excepthook
sys._excepthook = sys.excepthook
def exception_hook(exctype, value, traceback):
sys._excepthook(exctype, value, traceback)
sys.exit(1)
sys.excepthook = exception_hook
# Initialize global variables
Global.init()
# Create the Application base
global app,trans
app = Application(sys.argv)
trans = QtCore.QTranslator(app)
# app = QtGui.QApplication(sys.argv)
# Apply a stylesheet (theme) of choice here
# app.setStyleSheet(fancyqt.firefox.style)
# Set Application Font
font = QtGui.QFont()
font.setFamily("Verdana")
if __name__ == '__main__':
'''Install a global exception hook to catch pyQt errors that fall through (helps with debugging a ton)
sys.__excepthook = sys.excepthook
sys._excepthook = sys.excepthook
def exception_hook(exctype, value, traceback):
sys._excepthook(exctype, value, traceback)
sys.exit(1)
sys.excepthook = exception_hook
'''
# Initialize global variables
Global.init()
# Create the Application base
app = Application(sys.argv)
# Apply a theme of choice here
# app.setStyleSheet(fancyqt.firefox.style)
# Set Application Font
font = QtGui.QFont()
font.setFamily("Verdana")
font.setPixelSize(12)
